#ifndef __TASK_H
#define __TASK_H
#include "main.h"
void start_task();
#define optic_start1 HAL_GPIO_ReadPin(optic1_GPIO_Port,optic1_Pin)
#define optic_start2 HAL_GPIO_ReadPin(optic2_GPIO_Port,optic2_Pin)

#define optic_font1 HAL_GPIO_ReadPin(optic3_GPIO_Port,optic3_Pin)
#define optic_font2 HAL_GPIO_ReadPin(optic4_GPIO_Port,optic4_Pin)
#define optic_attack HAL_GPIO_ReadPin(optic5_GPIO_Port,optic5_Pin)
#define UP_SPEED -600
#define WALK_SPEED 250
#define EDGE_SPEED -300
#define left_turn 0
#define left_turn2 250
void walk();
void attack();
void edge_detect();
void down_stage();
void stop();
#endif